System and method for providing guidance towards a far-point position for a vehicle implementing a satellite-based guidance system

• US 7,369,924 B2
• Filed: 06/05/2006
• Issued: 05/06/2008
• Est. Priority Date: 06/05/2006
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Han, Shufeng, Reid, John F., Pickett, Terence D., Nelson, Frederick W.
• Primary Examiner(s): Hellner; Mark
• Application Number:
  US11/447,220
• Publication Number:
  US 20070282527A1
• Time in Patent Office: 701 Days
• Field of Search: 348/120, 342/357.17, 701/2.3, 701/28
• US Class Current: 701/28
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

The present invention is a method for providing guidance towards a far-point position for a vehicle implementing a satellite-based guidance system. The method includes capturing an image. The method further includes providing the image in a digital format to an algorithm. The method further includes isolating far-point pixelized data of the provided image. The method further includes generating data for causing a steering control system of the vehicle implementing the satellite-based guidance system to maintain the vehicle on a straight-line path towards the far-point position.

Claims

1. A method for providing guidance towards a far-point position for a vehicle implementing a satellite-based guidance system and at least one of an Inertial Measurement Unit (IMU) and a Terrain Compensation Unit (TCU), comprising:

capturing an image;

providing the image in a digital format to an algorithm;

isolating far-point pixelized data of the provided image; and

combining the far-point pixelized data with satellite-based guidance system course information to generate at least one steering error for causing a steering control system of the vehicle to maintain the isolated far-point pixelized data of the provided image in a fixed yaw position on subsequently captured images and further causing the steering control system of the vehicle to maintain the vehicle on a straight-line path towards the far-point position and further providing drift correction functionality for the vehicle.

2. A method as claimed in claim 1, wherein the image is captured via a digital camera, the digital camera being focused on the far-point position.

3. A computer program product, comprising:

a computer useable medium including computer usable program code for performing a method for providing guidance towards a far-point position for a vehicle implementing a satellite-based guidance system including;

computer usable program code for capturing an image;

computer usable program code for providing the image in a digital format to an algorithm;

computer usable program code for isolating far-point pixelized data of the provided image; and

computer usable program code for combining the far-point pixelized data with satellite-based guidance system course information to generate at least one steering error for causing a steering control system of the vehicle to maintain the isolated far-point pixelized data of the provided image in a fixed yaw position on subsequently captured images and further causing the steering control system of the vehicle to maintain the vehicle on a straight-line path towards the far-point position.

4. A computer program product as claimed in claim 3, wherein the image is captured via a digital camera, the digital camera being focused on the far-point position.

5. A guidance system, comprising:

a satellite-based navigation system including;

an antenna configured for collecting satellite-based navigation system signals;

a receiver communicatively coupled with the antenna, the receiver configured for receiving the collected satellite-based navigation system signals and determining location of a vehicle implementing the guidance system;

a display communicatively coupled with the receiver, the display configured for displaying satellite-based navigation system course information; and

a controller communicatively coupled with the display and the receiver, the controller configured for allowing user input commands to be entered via the display;

a vision recognition augmentation system communicatively coupled with the satellite-based navigation system, the vision recognition augmentation system including;

a camera configured for providing an image to the guidance system; and

at least one of an Inertial Measurement Unit (IMU) and a Terrain Compensation Unit (TCU),

wherein an algorithm isolates far-point pixelized data of the provided image and utilizes said far-point pixelized data in combination with the satellite-based navigation system course information to generate at least one steering error for maintaining the isolated far-point pixelized data of the provided image in a fixed yaw position on subsequently captured images, thereby causing a steering control system of the vehicle to maintain the vehicle on a straight-line path towards the far-point position and further providing drift correction functionality for the guidance system.

6. A guidance system as claimed in claim 5, wherein the provided image is a digital image.

7. A guidance system as claimed in claim 5, wherein the guidance system further includes a data logger configured for storing field attribute data for future reference.

8. A guidance system as claimed in claim 7, wherein the guidance system further includes a sound device configured for alerting a user when the vehicle is within a pre-determined distance of a field attribute.

9. A guidance system as claimed in claim 8, wherein the camera is a digital camera.

10. A guidance system as claimed in claim 5, wherein the satellite-based navigation system is a GPS navigation system.

11. A guidance system as claimed in claim 5, wherein the receiver is a Differential GPS (DGPS) receiver.

12. A guidance system as claimed in claim 5, wherein the IMU is configured for detecting altitude, location and motion of the vehicle.

13. A guidance system as claimed in claim 5, wherein the IMU implements at least one accelerometer and at least one angular rate sensor for tracking movement and location of the vehicle.

14. A guidance system as claimed in claim 5, wherein the receiver is adjustably controllable by a user for receiving various signal types.

15. A guidance system as claimed in claim 5, wherein the TCU is configured for promoting guidance accuracy when the vehicle is being operated upon at least one of uneven and sloped terrain.

16. A guidance system as claimed in claim 5, wherein the antenna and receiver are integrated into a single unit.

17. A guidance system as claimed in claim 7, wherein field attribute data includes a location of at least one area of the field at which material has been applied.

18. A guidance system as claimed in claim 17, wherein the data logger includes a visual display for providing a depiction of said field attribute data.

19. A guidance system as claimed in claim 5, wherein the antenna is at least one of water-proof and water-resistant.

20. A guidance system as claimed in claim 5, wherein the antenna includes at least one magnetic mount for securing the antenna to a cab of the vehicle.